The couple, both in their 70s and from Moffat in Dumfries and Galloway, Scotland, were beginning a two-week holiday.

They were reportedly found by divers inside the vehicle in the early hours of Wednesday morning.

Their driver, Juan Sillero, was also killed.

In a statement released by the Foreign and Commonwealth Office, their family members said: “We are deeply shocked by the sudden passing of our parents Delia and Tony Green in the tragic events in Majorca. They were travelling out to Majorca for a two week holiday when they were caught up in the flooding.

“Delia and Tony were a loving, kind and caring couple. They were at their happiest when they were with their family and friends. They recently celebrated 55 years of marriage. Originally from Atherton, Greater Manchester, they retired to Moffat fourteen years ago.”

Tony, a retired headteacher, worked in Germany and later in Grantham, the statement said.

“Delia and Tony got a taste for travel with Cala Bona recently becoming a regular destination,” it continued.

“They were looking forward to their latest adventure abroad. The family take some solace from the knowledge that they died together.

“Our thoughts also go out to their taxi driver and his family who are coming to terms with their loss as well. They will all be missed by everyone who knew them.

“We would like to thank everyone for the love and support shown to our family as we come to terms with losing our parents. We would very much appreciate privacy at this most difficult of times.”

The regional government in Majorca called an emergency meeting on Wednesday to coordinate rescue efforts, with military units sent to the area to help.

“My solidarity and support goes out to the families and friends of victims and all those affected by these tragic floods,” Spanish Prime Minister Pedro Sanchez tweeted early on Wednesday.

Hundreds of displaced residents were left to seek shelter in emergency relief centres, Spanish authorities said, while 10 other people were reported dead.

The Spanish weather agency reported around 8in (20.3cm) of rain fell in four hours on Tuesday evening in parts of the island.